US8579066B2 - Vehicle seat belt device - Google Patents

Vehicle seat belt device Download PDF

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Publication number
US8579066B2
US8579066B2 US13/582,218 US201113582218A US8579066B2 US 8579066 B2 US8579066 B2 US 8579066B2 US 201113582218 A US201113582218 A US 201113582218A US 8579066 B2 US8579066 B2 US 8579066B2
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Prior art keywords
vehicle
control unit
yaw rate
motor
current
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US20120325574A1 (en
Inventor
Shotaro Odate
Takeshi Kojima
Yo Ito
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Assigned to HONDA MOTOR CO., LTD. reassignment HONDA MOTOR CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ITO, YO, KOJIMA, TAKESHI, ODATE, SHOTARO
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
    • B60R2022/4666—Reels with means to tension the belt in an emergency by forced winding up characterised by electric actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
    • B60R2022/468—Reels with means to tension the belt in an emergency by forced winding up characterised by clutching means between actuator and belt reel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R22/00—Safety belts or body harnesses in vehicles
    • B60R22/34—Belt retractors, e.g. reels
    • B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
    • B60R2022/4685—Reels with means to tension the belt in an emergency by forced winding up with means to adjust or regulate the tensioning force in relation to external parameters

Definitions

  • the present invention relates to a seat belt device that restrains a vehicle occupant seated on a seat of a vehicle through a webbing, and a method of controlling thereof.
  • a control unit determines the state of a side-slippage of a vehicle based on detection values acquired by a wheel-speed sensor, a yaw rate sensor, a lateral acceleration sensor, a steering angle sensor, and the like.
  • a seat belt device that uses a motor as a driving source of the pretensioner is known.
  • the pretensioner is operated after the start of a side-slippage of the vehicle. Accordingly, for example, in a motor driving pretensioner, there is a time delay until the webbing is retracted after the motor is actually electrically conducting, and there is a case where the timing for restraining the vehicle occupant is late.
  • a seat belt control device independently determines the movement state of the vehicle based on the detection values acquired by various sensors, and switches the operation state (the strength of winding the webbing or the like) in accordance with the determination.
  • a high operation capability is required for the seat belt control device, and accordingly, the cost increases.
  • An object of the present invention is to provide a seat belt device of a vehicle that can restrain a vehicle occupant at the optimal timing and decrease the sense of discomfort of a vehicle occupant.
  • a vehicle seat belt device employs the following configurations so as to solve the above-described problems.
  • a vehicle seat belt device includes: a webbing that retains a vehicle occupant seated on a seat of a vehicle; a belt reel around which the webbing is wound; a motor that delivers a rotational driving force to the belt reel; a clutch that maintains a connection state between the motor and the belt reel in a case where rotation torque in a webbing winding direction of the motor, which is equal to or larger than a set value, is received; a detection unit configured to detect a movement state of the vehicle; a brake control unit configured to control a vehicle behavior by compressing or decompressing liquid placed inside a wheel cylinder of a brake device that brakes vehicle wheels of the vehicle; and a motor control unit configured to control an amount of conduction in the motor when the brake control unit outputs an operation signal representing that control of the vehicle behavior is in the middle of the process or when the movement state of the vehicle is detected by the detection unit to be in a movement state set in advance, wherein the motor control unit includes: a waiting current control unit
  • the brake control unit may include a precompressing unit configured to perform precompressing control of pressure of the liquid placed inside the wheel cylinder in a non-operating state of an acceleration pedal of the vehicle.
  • the current control performed by the waiting current control unit may be performed also when the motor control unit outputs a precompressing operation signal that represents that the precompressing unit is in an operating state.
  • the brake control unit may output an operation signal that differs in accordance with an operating state.
  • the brake control unit may include a first control unit configured to compress or decompress the liquid placed inside the wheel cylinder in accordance with a steering operation not based on a slippage state of the vehicle and outputting the operating signal.
  • the brake control unit may further include a second control unit configured to compress or decompress the liquid placed inside the wheel cylinder in accordance with the degree of the slippage state of the vehicle and outputting the operating signal.
  • the variable current control unit may compare a target current to be supplied to the motor, which is determined based on the movement state of the vehicle that is detected by the detection unit, and an actual current that flows through the motor with each other, change the actual current based on the comparison result such that the actual current of the motor approaches the target current, and, in a case where the amount of control performed by the first control unit is equal to or larger than a first set value, decrease the amount of change at that time more than that of a case where the amount of control performed by the second control unit is equal to or larger than a second set value.
  • variable current control unit may set the amount of change to be maximum in a case where the degree of the slippage state of the vehicle is equal to or larger than a reference that is set in advance.
  • the brake control unit may output the operating signal by performing control performed by the first control unit only when the vehicle is driven at low speed.
  • a waiting current that can maintain the motor and the clutch to be in a connection state at that time flows. Accordingly, the load of the motor is delivered to a vehicle occupant through the webbing as an extremely light reaction force, and the posture of the vehicle occupant can be maintained. Therefore, the vehicle occupant can be maintained in a natural driving posture without applying a large reaction force to the vehicle occupant, whereby it is difficult for the vehicle occupant to sense discomfort.
  • variable current control in which the amount of conduction in the motor is controlled in accordance with the value representing the movement state.
  • the motor control unit does not independently determine the vehicle behavior, the movement state of the vehicle, and the like. Accordingly, the calculation load of the motor control unit can be reduced.
  • turning assist brake control when the control by the first control unit is performed, so-called turning assist brake control is performed in which the turning is assisted through a brake when the vehicle is turned through steering. Even when the turning assist is performed, current control of the current flowing through the motor can be performed. In addition, even when the turning assist brake control is frequently performed for each steering, the current control of the current flowing through the motor is started from the control according to the waiting current. Accordingly, the vehicle occupant does not acquire a sense of discomfort. Even in a case where the vehicle behavior becomes unstable as a result of the steering, and, the target current for the motor is changed, the process can proceed to the current control toward the target current without a delay of time.
  • the amount of change in current at a time when the actual current of the motor approaches the target current can be configured to be different in accordance with a difference in the operating signal that is output by the brake control unit.
  • the amount of control performed by the first control unit is equal or larger than the first set value
  • the amount of change in the current is decreased more than that in a case where the amount of control performed by the second control unit is equal to or larger than the second set value.
  • a change in the torque of the motor at the time of performing control (the turning assist brake control) through the first control unit can be configured to be smaller than the change in the torque of the motor at the time of performing the control (side-slippage-suppressing brake control) through the second control unit. Accordingly, even in a case where a restraining force is increased due to the retraction of the webbing at the time of performing the turning assist brake control, it is difficult to give a sense of discomfort to a vehicle occupant.
  • the amount of change in the current is the maximum when the degree of the slippage state of the vehicle is equal to or higher than a reference that is set in advance. Accordingly, in this case, the webbing can be wound by increasing the amount of conduction in the motor to the target current in a speedy manner. Therefore, in an emergency, a vehicle occupant can be restrained in a speedy manner.
  • the amount of change in the current of the motor can be determined based on the operating signal (control amount) that is output from the second control unit.
  • the webbing can be wound by increasing the amount of conduction in the motor up to the target current in a speedy manner, and the vehicle occupant can be restrained in a speedy manner.
  • FIG. 1 is a schematic configuration diagram of a seat belt device according to an embodiment of the present invention.
  • FIG. 2 is a schematic configuration diagram of a retractor and a control device of the seat belt device according to the above-described embodiment.
  • FIG. 3 is a schematic configuration diagram of the above-described retractor.
  • FIG. 4 is a schematic configuration diagram of a powertrain of the retractor viewed on the front side.
  • FIG. 5 is an enlarged diagram of a part of the powertrain.
  • FIG. 6 is a control block diagram of a vehicle behavior control device according to the above-described embodiment.
  • FIG. 7 is a block diagram of a correction unit according to the above-described embodiment.
  • FIG. 8 is a diagram that illustrates the relationship between a lateral G-norm yaw rate, a steering-angle norm yaw rate, and a boundary norm yaw rate.
  • FIG. 9 is a diagram that illustrates a method of calculating a distribution coefficient HB 1 according to the above-described embodiment.
  • FIG. 10 is a diagram that illustrates a method of calculating a correction coefficient HS 1 according to the above-described embodiment.
  • FIG. 11 is a flowchart that illustrates a process of determining a correction coefficient HS 2 according to the above-described embodiment.
  • FIG. 12 is a diagram that illustrates a method of calculating a correction coefficient HS 3 according to the above-described embodiment.
  • FIG. 13 is a block diagram of the calculation of a braking force control amount according to the above-described embodiment.
  • FIG. 14 is a target current map that is used in the above-described embodiment.
  • FIG. 15 is a flowchart that illustrates a target current determining process according to the above-described embodiment.
  • FIG. 16 is a flowchart that illustrates motor control according to the above-described embodiment.
  • FIG. 17 is a flowchart that illustrates motor current control according to the above-described embodiment.
  • FIGS. 1 to 17 a vehicle seat belt device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 17 .
  • FIG. 1 illustrates a schematic whole configuration of the seat belt device 1 according to the present embodiment.
  • a seat 2 that is illustrated in FIG. 1 is a seat on which a vehicle occupant 3 is seated.
  • the seat belt device 1 according to this embodiment is a so-called three point-type seat belt device.
  • a webbing 5 is drawn to the upper side from a retractor 4 attached to a center pillar not illustrated in the figure.
  • the webbing 5 is inserted into and passes through a through anchor 6 that is supported at an upper side of the center pillar.
  • the tip end of the webbing 5 is fixed to the floor of the vehicle body through an outer anchor 7 located close to the vehicle exterior side of the seat 2 .
  • a tongue plate 8 is inserted and passes between the through anchor 6 of the webbing 5 and the outer anchor 7 .
  • the tongue plate 8 can be attached to or detached from a buckle 9 that is fixed to the vehicle body floor that is close to the vehicle inner side of the seat 2 .
  • the webbing 5 is wound in the retractor 4 in its initial state, and as a vehicle occupant 3 draws out the webbing by hand and fixes the tongue plate 8 to the buckle 9 , the chest part and the abdominal part of the vehicle occupant 3 are restrained with respect to the seat 2 .
  • the retractor 4 as illustrated in FIG. 2 includes a belt reel 12 .
  • the belt reel 12 is supported by a casing (not illustrated in the figure) so as to be rotatable, and the webbing 5 is wound therein.
  • the shaft of the belt reel 12 protrudes to one end side of the casing.
  • the belt reel 12 is connected to the rotation shaft 10 a of a motor 10 so as to be linked thereto through a power transmission mechanism 13 .
  • the power transmission mechanism 13 decelerates the rotation of the motor 10 so as to be delivered to the belt reel 12 .
  • a winding spring which is not illustrated in the figure, is disposed that biases the belt reel 12 in the webbing winding direction. In a state in which the belt reel 12 and the motor 10 are detached from each other by a clutch 20 , a tensile force according to the winding spring acts on the webbing 5 .
  • this seat belt device 1 when a vehicle behavior control device (braking control unit) 100 to be described later is operated and when the vehicle is in a movement state (predetermined movement state) that is set in advance, the motor 10 is electrically conducting, and the retraction of the webbing 5 or the like is performed by controlling the current flowing therein.
  • a vehicle behavior control device braking control unit
  • FIGS. 3 to 5 illustrate a specific configuration of the power transmission mechanism 13 .
  • a sun gear 14 is integrally combined with external teeth 15 used for driving an input, and a carrier 17 that supports a plurality of planetary gears 16 is combined with the shaft of the belt reel 12 .
  • a plurality of ratchet teeth 19 is formed, and the ratchet teeth 19 configure a part of the clutch 20 .
  • the clutch 20 appropriately cuts off or connects the powertrain between the motor 10 and the belt reel 12 under the control of the driving force of the motor 10 , which is performed by a seat belt control device 21 .
  • the motor-side powertrain 22 of the power transmission mechanism 13 is configured to include a first connect gear 23 having a small diameter, a second connect gear 24 having a large diameter, and first and second idler gears 26 and 27 .
  • the first connect gear 23 is constantly engaged with the external teeth 15 that is formed to be integral with the sun gear 14 .
  • the second connect gear 24 is disposed at the same shaft as that of the first connect gear 23 so as to be integrally rotated.
  • the first and second idler gears 26 and 27 are constantly engaged with each other so as to transmit power between the second connect gear 24 and the motor gear 25 (that is formed integrally with the rotation shaft 10 a of the motor 10 ).
  • the clutch 20 performs an operation of turning the delivery of the motor driving force to the belt reel 12 (carrier 17 ) ON or OFF by controlling locking or releasing locking of the rotation of the ring gear 18 .
  • the clutch 20 includes a pawl 29 , a clutch spring 30 , and ratchet teeth 19 .
  • the pawl 29 is supported so as to be rotatable by a casing that is not illustrated in the figure and includes an engagement claw 28 in the tip end portion.
  • the clutch spring 30 operates the pawl 29 .
  • the ratchet teeth of the ring gear 18 can be engaged with the engagement claw 28 of the pawl 29 .
  • the engagement claw 28 bumps into a face that is almost perpendicular to the inclination face of the ratchet teeth 19 so as to lock the rotation of the ring gear 18 in one direction.
  • a base portion side of the clutch spring 30 is bent in an arc shape so as to form a curved portion 31 .
  • the curved portion 31 is locked in the state of being wound around the outer circumference of the shaft portion of the first connect gear 23 .
  • the tip end portion of the clutch spring 30 extends in a direction toward the pawl 29 and is engaged with the operation window 32 of the pawl 29 .
  • the curved portion 31 of the clutch spring 30 is engaged with the shaft portion of the first connect gear 23 through friction.
  • the clutch spring 30 changes from a posture denoted by a solid line in FIG. 5 to a posture denoted by a chain line. Accordingly, the engagement claw 28 of the pawl 29 , as illustrated in FIG. 4 , is engaged with the ratchet teeth 19 so as to lock the rotation of the ring gear 18 . At this time, the ratchet teeth 19 can reliably lock the rotation of the ring gear 18 in one direction.
  • the clutch spring 30 applies a resistance force of a certain level or a higher level also to the rotation of the ring gear 18 in the backward direction.
  • an output signal is input from a current sensor 40 that detects an actual current flowing through the motor 10 , and information that is necessary for controlling the motor 10 is input from a vehicle behavior control device 100 thereto.
  • the information input to the seat belt control device 21 from the vehicle behavior control device 100 includes outputs of sensors including a longitudinal G (longitudinal g-force) sensor 101 , a lateral G (lateral g-force) sensor 105 , and a yaw rate sensor 106 , a steady-state yaw rate deviation ⁇ ff and a boundary yaw rate deviation ⁇ fb both calculated by a brake control unit 102 , and a prefill control amount of a prefill control unit 190 (see FIG. 6 ).
  • sensors including a longitudinal G (longitudinal g-force) sensor 101 , a lateral G (lateral g-force) sensor 105 , and a yaw rate sensor 106 , a steady-state yaw rate deviation ⁇ ff and a boundary yaw rate deviation ⁇ fb both calculated by a brake control unit 102 , and a prefill control amount of a prefill control unit 190 (see FIG. 6 ).
  • the movement state of the vehicle includes a longitudinal G, a lateral G, a yaw rate, a steady-state yaw rate deviation ⁇ ff, and a boundary yaw rate deviation ⁇ fb.
  • the vehicle behavior control device 100 will be described with reference to FIGS. 6 to 13 .
  • FIG. 6 is a control block diagram of the vehicle behavior control device 100 .
  • the vehicle behavior control device 100 includes a brake control unit 102 and a brake device 110 .
  • the brake device 110 includes a prefill control unit (precompressing unit) 190 .
  • the brake control unit 102 determines braking force control amounts of the left and right front wheels and the left and right rear wheels in accordance with the driving state of the vehicle.
  • the prefill control unit 190 determines control amounts that are necessary for precompressing liquid pressure of wheel cylinders (not illustrated in the figure) during non-operation of an accelerator pedal.
  • the brake device 110 controls the pressure of the liquid inside the wheel cylinder of each vehicle wheel based on the braking force control amounts of vehicle wheels that are determined by the brake control unit 102 .
  • the brake device 110 controls the pressure of the liquid inside the wheel cylinder based on the prefill control amount that is determined by the prefill control unit 190 .
  • the prefill control controls liquid pressure of the wheel cylinder and is performed for decreasing a delay in the braking effect.
  • the prefill control is performed such that predetermined pressure is applied to the liquid disposed inside the wheel cylinder when a vehicle occupant removes his/her foot from the accelerator pedal, and a state is formed before a foot is placed on a brake pedal in which there is hardly a gap between a disk rotor and a brake pad.
  • the prefill control unit 190 includes a prefilling-determining section 191 and a prefill control amount output section 192 .
  • the prefilling-determining section 191 determines whether to perform prefill control based on an output signal of an accelerator pedal switch 193 or the like. Described in detail, the accelerator pedal switch (gas pedal switch) 193 outputs an on signal to the prefilling-determining section 191 when a vehicle occupant places his/her foot on the accelerator pedal (gas pedal) and outputs an OFF signal to the prefilling-determining section 191 when the vehicle occupant removes his/her foot from the accelerator pedal. When the output signal of the accelerator pedal switch 193 is switched from ON to OFF, the prefilling-determining section 191 outputs an instruction signal used for performing prefill control to the prefill control amount output section 192 .
  • the prefilling-determining section 191 when a foot is placed on the brake pedal, or when a predetermined time elapses after the start of prefill control, the prefilling-determining section 191 outputs an instruction signal used for ending the prefill control to the prefill control amount output section 192 .
  • the prefill control amount output section 192 outputs a control amount (prefill control amount), which is necessary for precompressing the liquid disposed inside the wheel cylinder so as to form a state in which there is hardly a gap between the disk rotor and the brake pad (both are not illustrated in the figure), to the brake device 110 . Then, the prefill control amount output section 192 continues to perform the prefill control until an instruction signal used for ending the prefill control is input from the prefilling-determining section 191 .
  • a state in which the prefill control is performed will be referred to as during a prefill operation.
  • the prefill control amount output section 192 ends the performance of the prefill control by outputting a control amount of “0” to the brake device 110 .
  • a state in which the prefill control is not performed will be referred to as during a non-prefill operation.
  • the control amount signal that is output from the prefill control amount output section 192 is also output to the seat belt control device 21 .
  • Detection signals corresponding to detection values of various sensors are input to the brake control unit 102 . More specifically, detection signals corresponding to detection values are input to the brake control unit 102 from a steering angle sensor 103 , a vehicle speed sensor 104 , a lateral acceleration sensor (hereinafter, abbreviated as a lateral G sensor) 105 , a longitudinal acceleration sensor (hereinafter, abbreviated as a longitudinal G sensor) 101 , a yaw rate sensor 106 , and an accelerator opening degree sensor 107 , where:
  • the steering angle sensor 103 detects at least one of the steering wheel angle and the steering amount of the steering wheel of the vehicle;
  • the vehicle speed sensor 104 detects the speed of the vehicle
  • the lateral acceleration sensor (hereinafter, abbreviated as a lateral G sensor) 105 detects the acceleration of the vehicle in the leftward/rightward direction (vehicle widthwise direction), that is, the lateral acceleration (hereinafter, abbreviated as lateral G);
  • the longitudinal acceleration sensor (hereinafter, abbreviated as a longitudinal G sensor) 101 detects the acceleration of the vehicle in the forward/backward direction, that is, the longitudinal acceleration (hereinafter, abbreviated as longitudinal G);
  • the yaw rate sensor 106 detects the yaw rate of the vehicle
  • the accelerator opening degree sensor 107 detects the opening degree of the accelerator of the vehicle.
  • an electric signal according to the calculated friction coefficient is input to the brake control unit 102 .
  • the brake control unit 102 includes a steering-angle norm yaw rate-calculating section 111 , a steady-state norm yaw rate-calculating section 112 , a steady-state yaw rate deviation-calculating section 113 , a lateral G-norm yaw rate-calculating section 114 , a correction section 115 , a boundary yaw rate deviation-calculating section 116 , and a control amount-calculating section 117 .
  • the control amount-calculating section 117 includes a feed-forward control amount-calculating part (hereinafter, abbreviated as an FF control amount-calculating part) 118 and a feedback control amount-calculating part (hereinafter, abbreviated as an FB control amount-calculating part) 119 .
  • the longitudinal G sensor 101 , the lateral G sensor 105 , the yaw rate sensor 106 , the steady-state yaw rate deviation-calculating section 113 , and the boundary yaw rate deviation-calculating section 116 configure a detection unit that detects the movement state of the vehicle.
  • the steering-angle norm yaw rate-calculating section 111 calculates a steering-angle norm yaw rate based on a steering angle that is detected by the steering angle sensor 103 and a vehicle speed that is detected by the vehicle speed sensor 104 .
  • the driver sets the steering angle to be large, and accordingly, the steering angle norm yaw rate is high.
  • the steering-angle norm yaw rate that is calculated based on the steering angle is high, it can be estimated that the driver's steering intention desiring to turn the vehicle is strong.
  • the steady-state norm yaw rate-calculating section 112 calculates a steady-state norm yaw rate gain Kv according to the vehicle speed by referring to a steady-state norm yaw rate gain table 121 and calculates a steady-state norm yaw rate ⁇ _high by multiplying the steering-angle norm yaw rate by a steady-state norm yaw rate gain Kv.
  • the horizontal axis is the vehicle speed
  • the vertical axis is the steady-state norm yaw rate gain Kv
  • the steady-state norm yaw rate gain Kv converges on one as the vehicle speed increases
  • the steady-state norm yaw rate gain Kv increases as the vehicle speed decreases.
  • it is set such that the steady-state norm yaw rate gain Kv is larger than one in a low speed region in which the vehicle speed, for example, is equal to or less than 40 km/h
  • the steady-state norm yaw rate gain Kv is one when the vehicle speed is higher than that.
  • the lateral G-norm yaw rate-calculating section 114 calculates a lateral G-norm yaw rate ⁇ _low based on the lateral G that is detected by the lateral G sensor 105 and a vehicle speed that is detected by the vehicle speed sensor 104 .
  • Gy is a detection value of the lateral acceleration detected by the lateral G sensor 5
  • V is a vehicle speed that is detected by the vehicle speed sensor 4 .
  • the correction section 115 calculates a boundary norm yaw rate ⁇ _TAR based on the steady-state norm yaw rate ⁇ _high and the lateral G-norm yaw rate ⁇ _low. A method of calculating the boundary norm yaw rate ⁇ _TAR by using the correction section 115 will be described next in detail.
  • the boundary yaw rate deviation-calculating section 116 calculates a boundary yaw rate deviation ⁇ fb by subtracting the yaw rate (actual yaw rate) that is detected by the yaw rate sensor 106 from the boundary norm yaw rate ⁇ _TAR.
  • the steady-state yaw rate deviation ⁇ ff that is calculated by the steady-state yaw rate deviation-calculating section 113 and the boundary yaw rate deviation ⁇ fb that is calculated by the boundary yaw rate deviation-calculating section 116 are output to the seat belt control device 21 so as to control the amount of conduction in the motor 10 .
  • the FF control amount-calculating part 118 calculates a feed-forward control amount (hereinafter, abbreviated as an FF control amount) based on the steady-state yaw rate deviation ⁇ ff, and the FB control amount-calculating part 119 calculates a feedback control amount (abbreviated as an FB control amount) based on the boundary yaw rate deviation ⁇ fb. Subsequently, the control amount-calculating section 117 calculates a total control amount by adding the FF control amount and the FB control amount and outputs the total control amount to the brake device 110 as an instruction value. A method of calculating the total control amount by using the control amount-calculating section 117 will be described next in detail.
  • the correction section 115 includes a distribution coefficient HB 1 -calculating part 131 , a standard boundary norm yaw rate-calculating part 132 , a correction coefficient HS 1 -calculating part 133 , a correction coefficient HS 2 -calculating part 134 , and a correction coefficient HS 3 -calculating part 135 .
  • the standard boundary norm yaw rate-calculating part 132 calculates a standard boundary norm yaw rate ⁇ _t1 based on a distribution coefficient HB 1 that is calculated by the distribution coefficient HB 1 -calculating part 131 , the steady-state norm yaw rate ⁇ _high, and the lateral G-norm yaw rate ⁇ _low.
  • the standard boundary norm yaw rate ⁇ _t1 is multiplied by the correction coefficients HS 1 and HS 2 that are calculated by the correction coefficient HS 1 -calculating part 133 and the correction coefficient HS 2 -calculating part 134 , and the correction coefficient HS 3 that is calculated by the correction coefficient HS 3 -calculating part 135 to the result, whereby the boundary norm yaw rate ⁇ _TAR is calculated.
  • ⁇ — TAR ⁇ — t 1 ⁇ HS 1 ⁇ HS 2+ HS 3 Equation (1)
  • the boundary norm yaw rate ⁇ _TAR becomes a yaw rate target value in feedback control.
  • the standard boundary norm yaw rate-calculating part 132 corrects the lateral G-norm yaw rate ⁇ _low as a target value in the feedback control of conventional vehicle behavior control in an increasing direction in association with the steady-state norm yaw rate ⁇ _high that is calculated based on the steering angle, thereby calculating the standard boundary norm yaw rate ⁇ _t1. Accordingly, both control for stabilizing a yaw moment occurring in the vehicle body and control for improving the responsiveness of steering are achieved.
  • FIG. 8 illustrates changes in the steering-angle norm yaw rate and the lateral G-norm yaw rate in time from a straight advancing state until a predetermined steering angle is maintained by rotating the steering wheel.
  • the steering-angle norm yaw rate is higher than the lateral G-norm yaw rate as above.
  • a method is used in which the lateral G-norm yaw rate is corrected so as to approach the steering-angle norm yaw rate.
  • the degree of approach of the lateral G-norm yaw rate to the steering-angle norm yaw rate is adjusted in accordance with the driving state.
  • a concept of a distribution coefficient of the lateral G-norm yaw rate and the steering-angle norm yaw rate is employed.
  • this concept is further developed, and, as a method of correcting the lateral G-norm yaw rate to be increased, the lateral G-norm yaw rate is corrected so as to approach the steady-state norm yaw rate ⁇ _high that is calculated based on the steering-angle norm yaw rate.
  • a standard boundary norm yaw rate ⁇ _t1 is calculated using Equation (2) based on the distribution coefficient HB 1 that is calculated based on the distribution coefficient HB 1 -calculating part 131 , the lateral G-norm yaw rate ⁇ _low, and the steady-state norm yaw rate ⁇ _high.
  • ⁇ — t 1 HB 1 ⁇ _high+(1 ⁇ HB 1) ⁇ _low Equation (2)
  • the distribution coefficient HB 1 is a numeric value in the range of 0 to 1.
  • the standard boundary norm yaw rate ⁇ _t1 is the lateral G-norm yaw rate ⁇ _low.
  • the standard boundary norm yaw rate ⁇ _t1 is the steady-state norm yaw rate ⁇ _high.
  • the distribution coefficient HB 1 is calculated by multiplying distribution coefficients HB 1 a , HB 1 b , HB 1 c , and HB 1 d together.
  • the distribution coefficient HB 1 a is calculated in accordance with the vehicle speed
  • the distribution coefficient HB 1 b is calculated in accordance with the ratio of change in the yaw rate
  • the distribution coefficient HB 1 c is calculated in accordance with the integral of a yaw rate deviation
  • the distribution coefficient HB 1 d is calculated in accordance with the steering speed.
  • HB 1 HB 1 a ⁇ HB 1 b ⁇ HB 1 c ⁇ HB 1 d Equation (3)
  • the distribution coefficients HB 1 a , HB 1 b , HB 1 c , and HB 1 d are calculated by referring to distribution coefficient tables 140 , 141 , 142 , and 143 illustrated in FIG. 9 .
  • the distribution coefficient tables 140 , 141 , 142 , and 143 according to this embodiment will now be described.
  • the horizontal axis is the vehicle speed
  • the vertical axis is the distribution coefficient HB 1 a .
  • the distribution coefficient HB 1 a gradually decreases as the vehicle speed increases.
  • the boundary norm yaw rate ⁇ _TAR as a target value is set to be high in the FB control amount-calculating part 119 so as to improve the turning round characteristic and the followability, and, when the vehicle speed is high, the boundary norm yaw rate ⁇ _TAR as a target value is set not to be high in the FB control amount-calculating part 119 so as to acquire stability of the vehicle behavior.
  • the horizontal axis is the rate of change in the yaw rate
  • the vertical axis is the distribution coefficient HB 1 b .
  • the distribution coefficient HB 1 b gradually decreases as the yaw rate change rate increases.
  • the yaw rate change rate is a change in the actual yaw rate, which is detected by the yaw rate sensor 106 , in time and can be calculated by differentiating the actual yaw rate with respect to time. For example, at a time when violent slalom driving is performed, at a time when the vehicle behavior is unstable, or the like, a high yaw rate change rate appears.
  • the boundary norm yaw rate ⁇ _TAR as a target value should not set to be high in the FB control amount-calculating part 119 , and accordingly, when the yaw rate change rate is high, the distribution coefficient HB 1 b is set to a small value, whereby the boundary norm yaw rate ⁇ _TAR is not high.
  • the horizontal axis is the integral value of the yaw rate deviation
  • the vertical axis is the distribution coefficient HB 1 c .
  • the distribution coefficient HB 1 c gradually decreases as the integral value of the yaw rate deviation increases.
  • an integral value of the yaw rate deviation is a value acquired by integrating a deviation between the boundary norm yaw rate and the actual yaw rate detected by the yaw rate sensor 106 , that is, the boundary yaw rate deviation ⁇ fb from a time when steering is started.
  • the boundary yaw rate deviation ⁇ fb is small, in a case where the state is continued for a long time, the integral value of the yaw rate deviation is large.
  • the boundary norm yaw rate ⁇ _TAR as a target value should not be set to be large in the FB control amount-calculating part 119 . Accordingly, when the integral value of the yaw rate deviation is large, the distribution coefficient HB 1 c is set to a small value, so that the boundary norm yaw rate ⁇ _TAR is not high.
  • the horizontal axis is the steering speed
  • the vertical axis is the distribution coefficient HB 1 d.
  • the steering speed is a value that is determined based on the amount of change in the steering angle per unit time that is detected by the steering angle sensor 3 and the steering angle and can be calculated by taking a time derivative of the steering angle and comparing the result with the steering angle.
  • a negative steering speed is acquired when, in a state in which the steering wheel is rotated in a direction separating from the neutral position (straight advancement direction), there is an amount of change per unit time in a direction toward the neutral position and when, in a state in which the steering wheel is rotated in a direction returning to the neutral position, there is an amount of change per unit time in a direction separating from the neutral position.
  • the responsiveness of the steering is improved when an operation of avoiding a front-side object, lane changing, or the like is performed.
  • the distribution coefficient HB 1 d may be calculated based on at least one of the turning angle and the steering amount instead of the steering speed. The reason for this is that the larger the turning angle is, the higher the operation intention of the driver for aggressively turning the vehicle can be estimated.
  • the turning angle in this case has the same meaning as that of the steering angle.
  • This correction coefficient HS 1 is a correction coefficient in consideration of a time when a driver performs an operation of turning the vehicle by turning the handle with the vehicle preloaded or the like.
  • the correction coefficient HS 1 is calculated by multiplying a correction coefficient HS 1 a that is calculated in accordance with the steering speed and a correction coefficient HS 1 b that is calculated in accordance with the preload of the vehicle.
  • HS 1 HS 1 a ⁇ HS 1 b Equation (4)
  • the preload of a vehicle is the amount of movement of the load to the front side of the vehicle and, for example, can be estimated by the longitudinal G sensor 101 that detects the acceleration of the vehicle in the longitudinal direction.
  • the correction coefficients HS 1 a and HS 1 b are calculated by referring to correction coefficient tables 144 and 145 illustrated in FIG. 10 .
  • the correction coefficient tables 144 and 145 according to the present embodiment will now be described.
  • the horizontal axis is the steering speed
  • the vertical axis is the correction coefficient HS 1 a .
  • the correction coefficient HS 1 a gradually decreases as the steering speed increases.
  • the horizontal axis is the preload (the amount of movement to the front side of the vehicle), and the vertical axis is the correction coefficient HS 1 b .
  • the preload is equal to or higher than an arbitrary threshold value (predetermined value)
  • the correction coefficient HS 1 b gradually decreases as the preload increases.
  • the correction coefficient HS 1 is a correction coefficient that is used for adjusting the boundary norm yaw rate ⁇ _TAR at the time of the steering.
  • the correction coefficient HS 1 is one in a low steering speed region and a low preload region. Accordingly, the boundary norm yaw rate ⁇ _TAR is configured to be high, and therefore, the turning round characteristic can be improved. In contrast to this, as the steering speed and the preload increase, the correction coefficient HS 1 becomes smaller than one. Accordingly, the boundary norm yaw rate ⁇ _TAR can be configured to be low, therefore, the stability of the vehicle behavior can be secured.
  • This correction coefficient HS 2 is a correction coefficient in consideration of a case where a lane is changed over (steering is performed, and immediately the vehicle is returned to the original traveling direction) to a road surface (hereinafter, abbreviated as a high- ⁇ lane) having a high coefficient of friction (hereinafter, abbreviated as ⁇ ) between the vehicle wheels and the road surface.
  • the correction coefficient HS 2 is a gain that is configured such that a maximum value is set to one, and a predetermined decrease counting value is subtracted from its initial value in a case where one condition of (a) to (d) represented below is satisfied, and a predetermined increase counting value is added thereto toward one in a case where any condition of (a) to (d) represented below is not satisfied.
  • the correction coefficient HS 2 may be configured such that a predetermined decrease counting value is subtracted from the initial value in a case where two or more arbitrary conditions out of (a) to (d) described above are satisfied, and a predetermined increase counting value is added toward one in a case where two or more conditions are not satisfied.
  • a predetermined decrease counting value is subtracted from the initial value in a case where two or more arbitrary conditions out of (a) to (d) described above are satisfied, and a predetermined increase counting value is added toward one in a case where two or more conditions are not satisfied.
  • the coefficient ⁇ of friction is calculated by a ⁇ -calculating unit 8 .
  • the lateral G decrease rate is the speed of decrease in the lateral G and can be calculated based on the lateral G that is detected by the lateral G sensor 5 .
  • the yaw rate-decreasing rate is the speed of decrease in the actual yaw rate that is detected by the yaw rate sensor 6 .
  • Step S 301 it is determined whether or not the coefficient of friction is larger than a threshold value ⁇ th.
  • Step S 301 the determination result made in Step S 301 is “YES” ( ⁇ > ⁇ th)
  • the process proceeds to Step S 302 , and it is determined whether or not at least one of whether the steering angle ⁇ is larger than a threshold value ⁇ th ( ⁇ > ⁇ th), whether the lateral G decreasing rate ⁇ G is larger than a threshold value ⁇ Gth ( ⁇ G> ⁇ Gth), and whether the yaw rate-decreasing rate ⁇ is larger than a threshold value ⁇ th ( ⁇ > ⁇ th).
  • Step S 302 determines whether the correction coefficient HS 2 converges on zero.
  • Step S 303 the correction coefficient HS 2 is determined through a subtraction process, and the execution of this routine temporality ends.
  • a predetermined subtraction counting value is repeatedly subtracted from the initial value of the correction coefficient HS 2 , so that the correction coefficient HS 2 converges on zero.
  • Step S 301 determines whether the correction coefficient HS 2 converges on one.
  • the initial value of the correction coefficient HS 2 is an arbitrary value between zero and one.
  • the boundary norm yaw rate ⁇ _TAR is set to be high, there is concern that the tracing characteristic of the vehicle for steering may be degraded.
  • the correction coefficient HS 2 is used for suppressing this. In other words, in a case where the coefficient ⁇ of friction, the steering angle, the lateral G decreasing rate, and the yaw rate-decreasing rate are large, the correction coefficient HS 2 is set to a small value.
  • the boundary norm yaw rate ⁇ _TAR is configured not to be high, and accordingly, the convergence of the yaw rate after the lane is changed over is improved.
  • the correction coefficient HS 3 is a correction coefficient in consideration of a reaction for turning off the output of the vehicle during such turning.
  • a turning operation is aggressively performed by using such a reaction.
  • the vehicle behavior may be easily unstable when the accelerator is open from when torque required for the vehicle is large (in other words, the degree of opening of the accelerator is high) or when the vehicle speed is high.
  • the correction coefficient HS 3 is a correction coefficient that is used for adjusting the boundary norm yaw rate ⁇ _TAR at a time when there is a reaction for the turning off the output of the vehicle during turning.
  • the correction coefficient HS 3 is calculated by multiplying the correction coefficient HS 3 a that is calculated in accordance with the vehicle speed and the correction coefficient HS 3 b that is calculated in accordance with the torque required for the vehicle.
  • HS 3 HS 3 a ⁇ HS 3 b Equation (6)
  • the torque required by the vehicle can be calculated based on the degree of opening of the accelerator that is detected by the accelerator opening degree sensor 107 .
  • the correction coefficients HS 3 a and HS 3 b are calculated by referring to the correction coefficient tables 151 and 152 that are illustrated in FIG. 12 .
  • the correction coefficient tables 151 and 152 according to this embodiment will be described.
  • the horizontal axis is the vehicle speed
  • the vertical axis is the correction coefficient HS 3 a .
  • the correction coefficient HS 3 a is a predetermined positive value in a region in which the vehicle speed is lower than an arbitrary threshold value (predetermined value) set in advance.
  • predetermined value an arbitrary threshold value set in advance.
  • the correction coefficient HS 3 a gradually decreases as the vehicle speed increases.
  • the correction coefficient HS 3 a is a negative value.
  • the correction coefficient HS 3 a is a predetermined negative value.
  • the horizontal axis is the torque required for the vehicle
  • the vertical axis is the correction coefficient HS 3 b .
  • the above-described threshold value (predetermined value) T 0 is an extremely small value, and, for example, is set to a required torque corresponding to when the degree of opening of the accelerator is close to zero.
  • the required torque is equal to or larger than the above-described threshold value (predetermined value) T 0 (in other words, when it is determined that a reaction for turning off the output of the vehicle during turning does not occur).
  • the correction coefficient HS 3 is zero regardless of the magnitude of the vehicle speed, and it is possible that the boundary norm yaw rate ⁇ _TAR is not corrected.
  • the required torque is equal to or less than the above-described threshold value (predetermined value) T 0 (in other words, it is determined that a reaction for turning off the output of the vehicle during turning occurs).
  • the correction coefficient HS 3 is a positive value, and the boundary norm yaw rate ⁇ _TAR can be configured to be high.
  • the correction coefficient HS 3 is a negative value, and accordingly, the boundary norm yaw rate ⁇ _TAR can be configured to be low.
  • the boundary norm yaw rate ⁇ _TAR can be configured to be high.
  • the turning round characteristic at a time when a reaction for turning off the output of the vehicle during turning at a low or middle speed occurs can be improved.
  • the boundary norm yaw rate ⁇ _TAR can be configured to be low.
  • brake control amount calculating that is performed by the control amount-calculating section 117 will be described with reference to FIG. 13 .
  • the FF control amount-calculating part 118 calculates the FF control amount based on the steady-state yaw rate deviation ⁇ ff
  • the FB control amount-calculating part 119 calculates the FB control amount based on the boundary yaw rate deviation ⁇ fb. Then, the control amount-calculating section 117 adds the FF control amount and the FB control amount together so as to calculate a total control amount for each vehicle wheel.
  • a compressing distribution between the inner-side front wheel, that is, an FR turning inner wheel (hereinafter, abbreviated as an inner front wheel) of a turning vehicle and the inner-side rear wheel, that is, an RR turning inner wheel (hereinafter, abbreviated as an inner rear wheel) of the turning vehicle is determined.
  • a compressing coefficient K1fr for the inner front wheel and a compressing coefficient K1rr for the inner rear wheel are calculated.
  • the compressing coefficient K1fr for the inner front wheel may be set to increase in accordance with the steering angle.
  • the calculation of the FF compressing amount ⁇ P1ff for the inner front wheel and the calculation of the FF compressing amount ⁇ P2ff for the inner rear wheel are performed in parallel.
  • the steady-state yaw rate deviation ⁇ 1 ⁇ ff for the inner front wheel is calculated by multiplying the steady-state yaw rate deviation ⁇ ff, which is calculated by the steady-state yaw rate deviation-calculating section 113 , by an increase coefficient K1fr.
  • the brake liquid compressing amount ⁇ P1ffk of the inner front wheel is calculated in accordance with the steady-state yaw rate deviation ⁇ 1 ⁇ ff for the inner front wheel by referring to a compressing amount table 160 .
  • the horizontal axis is the steady-state yaw rate deviation ⁇ 1 ⁇ ff
  • the vertical axis is the brake liquid compressing amount ⁇ P1ffk.
  • the brake liquid compressing amount ⁇ P1ffk is zero, and, in a case where the steady-state yaw rate deviation ⁇ 1 ⁇ ff for the inner front wheel is equal to or more than zero, as the steady-state yaw rate deviation ⁇ 1 ⁇ ff increases, the brake liquid compressing amount ⁇ P1ffk increases.
  • a limit-processing unit 161 performs a limit process such that the brake liquid compressing amount ⁇ P1ffk of the inner front wheel does not exceed an upper limit value.
  • the upper limit value is an arbitrary value that is calculated by the upper limit value-calculating unit 162 , and, by setting the brake liquid compressing amount ⁇ P1ffk not to exceed this value, an abrupt change in the brake liquid compressing amount ⁇ P1ffk is suppressed.
  • the FF compressing amount ⁇ P1ff for the inner front wheel is calculated by multiplying the brake liquid compressing amount ⁇ P1ffk of the inner front wheel, for which the limit process is performed, by a gain according to the vehicle speed.
  • the gain according to the vehicle speed is calculated based on a gain table 163 .
  • the horizontal axis is the vehicle speed
  • the vertical axis is the gain.
  • an arbitrary threshold value predetermined value
  • the FF compressing amount ⁇ P1ff of the inner front wheel is zero.
  • the FF compressing amount ⁇ P1ff of the inner front wheel is configured to be invalid.
  • the vehicle behavior is prevented from being unstable due to a steering assist brake at a high vehicle speed.
  • it may be configured such that a limit value decreasing as the vehicle speed increases is given, and the FF compressing amount ⁇ P1ff is set so as not to exceed the limit value.
  • the calculation of the FF compressing amount ⁇ P2ff for the inner rear wheel is the same as the calculation of the FF compressing amount ⁇ Pfr1 for the inner front wheel and will be briefly described.
  • the steady-state yaw rate deviation ⁇ 2 ⁇ ff for the inner rear wheel is calculated by multiplying the steady-state yaw rate deviation ⁇ ff, which is calculated by the steady-state yaw rate deviation-calculating section 113 , by the increase coefficient K1rr for the inner rear wheel.
  • the brake liquid compressing amount ⁇ P2ffk of the inner rear wheel is calculated in accordance with the steady-state yaw rate deviation ⁇ 2 ⁇ ff for the inner rear wheel by referring to a compressing amount table 164 .
  • the compressing amount table 164 is the same as the compressing amount table 160 , and thus, the description thereof will be omitted.
  • a limit-processing unit 165 performs a limit process such that the brake liquid compressing amount ⁇ P2ffk of the inner rear wheel does not exceed an upper limit value.
  • the upper limit value is calculated by the upper limit value-calculating unit 166 .
  • the upper limit value-calculating unit 166 is the same as the upper limit value-calculating unit 162 .
  • the FF compressing amount ⁇ P2ff for the inner rear wheel is calculated by multiplying the brake liquid compressing amount ⁇ P2ffk of the inner rear wheel, for which the limit process is performed, by a gain that is calculated by the gain table 167 .
  • the gain table 167 is the same as the gain table 163 , and thus, the description thereof will be omitted.
  • the FF control amount-calculating part 118 includes an inner wheel decompressing amount-calculating section 170 .
  • the inner wheel decompressing amount-calculating section 170 is used for limiting the brake liquid pressure of the inner-side vehicle wheel (turning inner wheels) of the vehicle during turning in advance under the premise that the vehicle behavior is unstable due to braking when the vehicle speed is high or the longitudinal G is high.
  • the inner wheel decompressing amount-calculating section 170 calculates a decompressing rate according to the vehicle speed by referring to a first decompressing rate table 171 and calculates a decompressing rate according to the lateral G by referring to a second decompressing rate table 172 . Then, the inner wheel decompressing amount-calculating section 170 calculates a total decompressing rate by multiplying with the calculated decompressing rate.
  • the horizontal axis is the vehicle speed
  • the vertical axis is the decompressing rate.
  • the horizontal axis is the lateral G
  • the vertical axis is the decompressing rate.
  • the lateral G is equal to or larger than an arbitrary threshold value (predetermined value) set in advance, as the lateral G increases, the decompressing rate gradually increases.
  • a total decompressing rate is set to a value that is between zero and one in accordance with the vehicle speed at the time of driving and the lateral G.
  • an inner wheel decompressing amount ⁇ Pd is acquired by multiplying the total decompressing rate acquired as above by master cylinder pressure of the brake device 110 and multiplying the result by ⁇ 1.
  • the FB control amount-calculating part 119 calculates an FB compressing amount ⁇ P1fb of the inner front wheel, an FB compressing amount ⁇ P3fb of the outer front wheel, that is, the FR turning outer wheel (hereinafter, abbreviated as an outer front wheel) of a vehicle during turning, the FB compressing amount ⁇ P2fb of the inner rear wheel, an FB compressing amount ⁇ P4fb of the outer rear wheel, that is, the RR turning outer wheel (hereinafter, abbreviated as an outer rear wheel) of the vehicle during turning.
  • the turning direction is a direction in which the sign of the deviation ⁇ fb is positive, and the norm yaw rate and the actual yaw rate are positive.
  • the FB compressing amount ⁇ P1fb of the inner front wheel is calculated based on the boundary yaw rate deviation ⁇ fb by referring to a compressing amount table 180 .
  • the horizontal axis is the boundary yaw rate deviation ⁇ fb
  • the vertical axis is the FB compressing amount ⁇ P1fb.
  • the FB compressing amount ⁇ P1fb is zero.
  • the FB compressing amount ⁇ P1fb increases.
  • the FB compressing amount ⁇ P2fb of the inner rear wheel is calculated based on the boundary yaw rate deviation ⁇ fb by referring to a compressing amount table 181 .
  • the horizontal axis is the boundary yaw rate deviation ⁇ fb
  • the vertical axis is the FB compressing amount ⁇ P2fb.
  • the FB compressing amount ⁇ P2fb is zero.
  • the FB compressing amount ⁇ P2fb increases.
  • the FB compressing amount ⁇ P3fb of the outer front wheel is calculated based on the boundary yaw rate deviation ⁇ fb by referring to a compressing amount table 182 .
  • the horizontal axis is the boundary yaw rate deviation ⁇ fb
  • the vertical axis is the FB compressing amount ⁇ P3fb.
  • the FB compressing amount ⁇ P3fb is zero.
  • the FB compressing amount ⁇ P3fb increases.
  • the FB compressing amount ⁇ P4fb of the outer rear wheel is calculated based on the boundary yaw rate deviation ⁇ fb by referring to a compressing amount table 183 .
  • the horizontal axis is the boundary yaw rate deviation ⁇ fb
  • the vertical axis is the FB compressing amount ⁇ P4fb.
  • the FB compressing amount ⁇ P4fb is zero.
  • the FB compressing amount ⁇ P4fb increases.
  • the FB control amount-calculating part 119 in a case where the boundary yaw rate deviation ⁇ fb is equal to or higher than zero, the actual yaw rate is lower than the boundary norm yaw rate. Accordingly, the FB control amount of each vehicle wheel is set in a direction increasing the yaw rate (in other words, in a direction negating the boundary yaw rate deviation ⁇ fb). More specifically, the FB compressing amounts are set so as to increase the brake liquid pressure of the inner front wheel and the inner rear wheel, and the FB compressing amounts are set so as not to increase the brake liquid pressure of the outer front wheel and the outer rear wheel.
  • the FB control amount of each vehicle wheel is set in a direction decreasing the yaw rate (in other words, in a direction negating the boundary yaw rate deviation ⁇ fb). More specifically, the FB compressing amounts are set so as to increase the brake liquid pressure of the outer front wheel and the outer rear wheel, and the FB compressing amounts are set so as not to increase the brake liquid pressure of the inner front wheel and the inner rear wheel.
  • control amount-calculating section 117 outputs a value acquired by adding the FF compressing amount ⁇ P1ff of the inner front wheel, the FB compressing amount ⁇ P1fb of the inner front wheel, and the inner wheel decompressing amount ⁇ Pd to the brake device 10 as a total control amount for the inner front wheel.
  • control amount-calculating section 117 outputs a value acquired by adding the FF compressing amount ⁇ P2ff of the inner rear wheel, the FB compressing amount ⁇ P2fb of the inner rear wheel, and the inner wheel decompressing amount ⁇ Pd to the brake device 10 as a total control amount for the inner rear wheel.
  • control amount-calculating section 117 outputs the FB compressing amount ⁇ P3fb of the outer front wheel to the brake device 10 as a total control amount of the outer front wheel.
  • control amount-calculating section 117 outputs the FB compressing amount ⁇ P4fb of the outer rear wheel to the brake device 10 as a total control amount of the outer rear wheel.
  • the brake device 10 controls the liquid pressure of the wheel cylinder of each vehicle wheel in accordance with the input control amount of each vehicle wheel.
  • This vehicle behavior control device 100 estimates the slippage state (side-slippage state) based on the boundary yaw rate deviation ⁇ fb. Then, the vehicle behavior control device 100 performs feedback control (side-slippage-suppressing brake control) of each vehicle wheel such that the boundary yaw rate deviation ⁇ fb is close to zero. Through this, the vehicle behavior control device 100 achieves the stabilization of the vehicle behavior. In addition, simultaneously with this, the vehicle behavior control device 100 controls the brake of each vehicle wheel based on the steady-state yaw rate deviation ⁇ ff in a feed-forward manner. Through this, the vehicle behavior control device 100 assists the turning of the vehicle at the time of steering, thereby achieving the improvement of the responsiveness of the steering. The turning assist brake control for assisting the turning at the time of steering is performed also when the boundary yaw rate deviation ⁇ fb is zero, in other words, when the vehicle is determined not to be in the slippage state.
  • a first control unit that increases or decreases the liquid pressure of the liquid pressure of the wheel cylinder in accordance with the a steering operation not through the slippage state of the vehicle is configured by the steering-angle norm yaw rate-calculating section 111 , the steady-state norm yaw rate-calculating section 112 , the steady-state yaw rate deviation-calculating section 113 , and the FF control amount-calculating part 118 .
  • the turning assist brake control is performed by the first control unit.
  • a second control unit that increases or decreases the liquid pressure of the wheel cylinder in accordance with the degree of the slippage state of the vehicle is configured by the lateral G-norm yaw rate-calculating section 114 , the correction section 115 , the boundary yaw rate deviation-calculating section 116 , and the FB control amount-calculating part 119 .
  • Side-slippage suppressing brake control is performed by the second control unit.
  • the sensor output signals of the longitudinal G sensor 101 , the lateral G sensor 105 , and the yaw rate sensor 106 are input to the seat belt control device 21 .
  • the seat belt control device 21 controls the motor 10 based on this information.
  • the seat belt control device 21 includes a target current-setting unit 41 and a current control unit 42 .
  • the current control unit 42 includes a waiting current control unit 43 and a variable current control unit 44 .
  • the target current-setting unit 41 sets the target current of the motor 10 based on the movement state amount of the vehicle.
  • the current control unit 42 performs current control such that a current that actually flows through the motor 10 , that is, the actual current coincides with the target current that is set by the target current-setting unit 41 .
  • the target current-setting unit 41 will be described. In this embodiment, as values (movement state amounts) that represent the movement state of the vehicle, the yaw rate and the lateral G are used.
  • the target current-setting unit 41 sets the target current I 1 by referring to a target current map that is illustrated in FIG. 14 based on the actual yaw rate detected by the yaw rate sensor 106 and the lateral G detected by the lateral G sensor 105 .
  • the horizontal axis is the lateral G
  • the waiting current Iw is a low current Iw (a nearly minimal current for maintaining a connection state) for which the above-described clutch 20 is maintained in a connection state.
  • the current value IB is a current value that is larger than the waiting current Iw.
  • the current value IA is a current value that is further larger than the current value IB.
  • a target current determining process that is performed by the target current-setting unit 41 will be described with reference to a flowchart illustrated in FIG. 15 .
  • a lateral G and an actual yaw rate are detected by the lateral G sensor 105 and the yaw rate sensor 106 (Step S 01 ).
  • a target current I 1 according to the lateral G and the actual yaw rate is determined by referring to the target current map illustrated in FIG. 14 (Step S 02 ).
  • This target current determining process is repeatedly performed for every predetermined time (for example, for every 20 msec).
  • a boundary yaw rate deviation ⁇ fb may be used instead of the actual yaw rate.
  • a target current can be set based on only the actual yaw rate or the boundary yaw rate deviation ⁇ fb.
  • FIG. 16 is a flowchart that illustrates the motor control.
  • FIG. 17 is a flowchart that illustrates current control of the motor 10 .
  • Step S 101 detection values of the longitudinal G sensor 101 and the lateral G sensor 105 are acquired.
  • Step S 102 operation information of the vehicle behavior control device 100 and the prefill control unit 190 are acquired.
  • the operation information of the vehicle behavior control device 100 is the steady-state yaw rate deviation ⁇ ff and the boundary yaw rate deviation ⁇ fb that are input from the brake control unit 102 to the seat belt control device 21 .
  • the operation information of the prefill control unit 190 is a prefill control amount that is input from the prefill control amount output section 192 to the seat belt control device 21 .
  • Step S 103 it is determined whether or not the vehicle behavior control device 100 is in the middle of performing the vehicle behavior control or whether or not the acceleration (the longitudinal G or the lateral G) is equal to or higher than a set threshold value (predetermined value). Whether or not the vehicle behavior control device 100 is in the middle of performing the vehicle behavior control is determined based on the steady-state yaw rate deviation ⁇ ff and the boundary yaw rate deviation ⁇ fb that are input from the brake control unit 102 to the seat belt control device 21 .
  • the vehicle behavior control device 100 determines that the vehicle behavior control device 100 is in the middle of performing the vehicle behavior control.
  • the vehicle behavior control includes turning assist brake control that assists the turning of the vehicle by controlling the brake based on only the steady-state yaw rate deviation ⁇ ff.
  • both the steady-state yaw rate deviation ⁇ ff and the boundary yaw rate deviation ⁇ fb are zero, it is determined that the vehicle behavior control device 100 is not in the middle of performing the vehicle behavior control.
  • the determination result of Step S 103 determines whether or not the motor 10 is conducted. In a case where the determination result of Step S 103 is “YES”, the motor 10 is conducted, and current control is performed. In a case where the determination result of Step S 103 is “NO”, the conduction of the motor 10 is not performed.
  • Step S 104 it is determined whether or not the prefill operation is in the middle of the process.
  • the determination on whether or not the prefill operation is in the middle of the process is determined based on the prefill control amount that is input from the prefill control amount output section 192 to the seat belt control device 21 . In a case where the prefill control amount is zero, a non-prefill operation is determined. In a case where the prefill control amount is larger than zero, the prefill operation is determined to be in the middle of the process.
  • Step S 104 determines whether the determination result of Step S 104 is “NO” (non-prefill operation). If the determination result of Step S 104 is “NO” (non-prefill operation), the process proceeds to Step S 105 , and the prefill flag is set to OFF, and the process proceeds to Step S 106 .
  • Step S 106 it is determined whether or not the steady-state yaw rate deviation ⁇ ff input from the brake control unit 102 is equal to or more than a first set value (first predetermined value).
  • the first set value for example, is set to a value of the steady-state yaw rate deviation that can be taken in a case where the steering angle is relative large, and the vehicle speed is a middle or low speed.
  • Step S 106 the process proceeds to Step S 107 , and the first set value is set to a value K1 that is smaller than a value that is based on the gain K.
  • the gain K is a gain that is used for determining the magnitude of a current change when the actual current flowing through the motor 10 gradually approaches the target current in the current control of the current flowing through the motor 10 that is performed in Step S 112 to be described later.
  • Step S 106 determines whether or not the boundary yaw rate deviation ⁇ fb input from the brake control unit 102 is equal to or larger than a second set value (second predetermined value).
  • the second set value is set to the value of the boundary yaw rate corresponding to the steering angle at which the lateral acceleration is equal to or higher than a reference value set in advance.
  • Step S 108 the process proceeds to Step S 109 , and the gain K is set to a value K2 (K2>K1) that is larger than K1.
  • Step S 109 the process proceeds to Step S 110 , and the gain K is set to a value K3 (K1 ⁇ K3 ⁇ K2) that is larger than K1 and is smaller than K2. Accordingly, the gain K2 set in Step S 109 is the maximum.
  • Step S 112 the current control of the current flowing through the motor 10 is performed, and the process is returned to the start.
  • Step S 104 determines whether the current flowing through the motor 10 is “YES” (in the middle of a prefill operation).
  • the process proceeds to Step S 111 , and the prefill flag is set to ON.
  • the process proceeds to Step S 112 , and the current control of the current flowing through the motor 10 is performed, and the process is returned to the start.
  • Step S 113 the gain K is set to K3, and the process is returned to the start.
  • the current control of the current flowing through the motor 10 is not performed (the motor 10 is not conducted), and the process is returned to the start.
  • the gain K3 that is set in Step S 113 has the same value as that of the gain K3 set in Step S 110 .
  • Step S 112 the current control of the current flowing through the motor 10 , which is performed in Step S 112 , will be described with reference to a flowchart illustrated in FIG. 17 .
  • Step S 201 the target current I 1 is set to the waiting current Iw.
  • the process proceeds to Step S 202 , and the conduction of the motor 10 is started.
  • the waiting current Iw is the low current Iw (a current value that is nearly a minimum for maintaining a connection state) for which the clutch 20 is maintained in the connection state.
  • Step S 203 it is determined whether or not the prefill flag is ON.
  • Step S 203 In a case where the determination result of Step S 203 is “YES” (ON), since the prefill operation is in the middle of the process, the process proceeds to Step S 204 , conduction through the waiting current Iw is performed for a predetermined time t0, and the process is returned to the start.
  • Step S 203 since a state is formed in which prefill is not operated, the process proceeds to Step S 205 , and the target current I 1 is updated with a target current that is latest set by the target current-setting unit 41 .
  • Step S 206 it is determined whether the present value of the current flowing through the motor 10 , that is, the actual current I detected by the current sensor 40 , does not coincide with the target current I 1 .
  • Step S 207 In a case where the determination result of Step S 207 is “YES” ( ⁇ I>Ith), since the actual current I is deviated from the allowed range of the target current I 1 , the process proceeds to Step S 208 , and it is determined whether or not the actual current I is lower than the target current I 1 .
  • Step S 208 the process proceeds to Step S 209 , and it is determined whether a sum (I+K ⁇ I) that is acquired by adding the actual current I to a value acquired by multiplying the absolute value ⁇ I of a difference between the target current I 1 and the actual current I by the gain K is smaller than the upper limit current value Iu_limit. In other words, it is determined whether or not the amount of conduction to the motor 10 increased from the current amount of conduction by K ⁇ I exceeds the upper limit current value Iu_limit.
  • the gain K is the gain K that is set in Steps S 107 , S 109 , S 110 , and S 113 in the above-described flowchart illustrated in FIG. 16 .
  • Step S 209 the determination result of Step S 209 is “YES” (I+K ⁇ I ⁇ Iu_limit)
  • the process proceeds to Step S 210 , and the amount of conduction to the motor 10 is increased by K ⁇ I to be I+K ⁇ I, and the process proceeds to Step S 211 .
  • Step S 209 determines whether the state is maintained without increasing the amount of conduction to the motor 10 , and the process proceeds to Step S 211 .
  • Step S 212 it is determined whether or not a difference (I ⁇ K ⁇ I) that is acquired by subtracting a value, which is acquired by multiplying the absolute value ⁇ I of the difference between the target current I 1 and the actual current I by the gain K, from the actual current I is larger than the waiting current Iw.
  • the gain K is the gain K that is set in Steps S 107 , S 109 , S 110 , and S 113 in the above-described flowchart illustrated in FIG. 16 .
  • Step S 212 the process proceeds to Step S 213 , the amount of conduction in the motor 10 is decreased by K ⁇ I to be I ⁇ K ⁇ I, and the process proceeds to Step S 211 .
  • Step S 212 In a case where the determination result of Step S 212 is “NO” (I ⁇ K ⁇ I ⁇ Iw), the process proceeds to Step S 214 , and the amount I of conduction in the motor 10 is set as the waiting current Iw, and the process proceeds to Step S 211 .
  • Step S 206 determines whether the actual current I of the motor 10 and the target current I coincide with each other.
  • Step S 207 in a case where the determination result of Step S 207 is “NO” ( ⁇ I ⁇ Ith), although the actual current of the motor 10 does not coincide with the target current I 1 , it is in the allowed range, and thus, the process proceeds to Step S 211 .
  • Step S 211 it is determined whether or not the vehicle behavior control device 100 is in the middle of performing the vehicle behavior control or whether or not the acceleration (the longitudinal G or the lateral G) is equal to or higher than an arbitrary value (predetermined value) set in advance.
  • a method of determining whether or not the vehicle behavior control device 100 is in the middle of performing the vehicle behavior control is the same as that of the case of Step S 103 in the above-described flowchart illustrated in FIG. 16 , and the description thereof will be omitted.
  • Step S 211 In a case where the determination result of Step S 211 is “NO”, since the driving state of the vehicle is stabilized, and the motor 10 does not need to be operated, the current control of the current flowing through the motor 10 ends, and the process is returned to the start.
  • Step S 211 In a case where the determination result of Step S 211 is “YES”, since the driving state of the vehicle does not arrive at a stable state, the process is returned to Step S 205 , and the process of a series of Steps S 205 to S 214 is repeatedly performed.
  • Steps S 201 to S 204 by performing the process of Steps S 201 to S 204 , the function of the waiting current control unit 43 is realized. In addition, by performing the process of Steps S 205 to S 214 , the function of the variable current control unit 11 is realized.
  • the waiting current Iw that maintains the clutch 20 to be in the connection state flows through the motor 10 .
  • the brake device 110 is in the middle of the prefill operation
  • the vehicle behavior control device 100 is in the middle of performing the vehicle behavior control, and the acceleration of the vehicle is equal to or higher than the threshold value (predetermined value)
  • the waiting current Iw flows through the motor 10 .
  • rotation resistance of the motor 10 side is applied to the belt reel 12 (webbing 5 ) through the clutch 20 , and an external force acting on the webbing 5 can be responded.
  • the intervention of the vehicle behavior control device 100 in the vehicle behavior control is performed at high speed, in other words, in a case where a steady-state yaw rate deviation ⁇ ff occurs, only the waiting current Iw, which can maintain the clutch 20 to be in the connection state, flows through the motor 10 . Accordingly, the load of the motor 10 is delivered to a vehicle occupant through the webbing 5 as an extremely light reaction force, and the vehicle occupant can maintain the posture. Therefore, according to the seat belt device 1 , the vehicle occupant can be maintained in a natural driving posture without applying a large reaction force to the vehicle occupant.
  • the vehicle behavior control device 100 in a case where the boundary yaw rate deviation ⁇ fb is almost zero, and the steady-state yaw rate deviation ⁇ ff is not zero, in other words, when the vehicle is turned through steering in a state in which a slippage state (side-slippage state) does not occur in the vehicle, turning assist brake control is performed. At that time, an operation signal is output from the vehicle behavior control device 100 so as to perform the current control of the current flowing through the motor 10 . Even in a case where the current control of the current flowing through the motor 10 is frequently performed in accompaniment with the turning assist brake control, the current control of the current flowing through the motor 10 is started from the waiting current control.
  • the vehicle occupant does not feel a sense of discomfort.
  • a change in the value representing the movement state of the vehicle thereafter can be prepared. Accordingly, in a case where the vehicle behavior becomes unstable as a result of steering, and the target current I 1 of the motor 10 is changed to a target current IA or IB that is higher than the waiting current Iw, the current control toward the target current can be performed without a time delay.
  • the seat belt device 1 in a case where, while the amount of conduction in the motor 10 is controlled to be at the waiting current Iw, the value representing the movement state of the vehicle is changed, and the target current I 1 of the motor 10 is changed to the target current IA or IB that is higher than the waiting current Iw, current control is performed such that the amount of conduction in the motor 10 gradually increases such that the actual current I coincides with the target current I 1 after the change.
  • the belt reel 12 is rotated in a direction winding the webbing 5 . Accordingly, the restraining force for the vehicle occupant through the webbing 5 can be appropriately changed in accordance with the change in the movement state of the vehicle.
  • the amount of conduction in the motor 10 is gradually increased. Therefore, when the upper body of the vehicle occupant is restrained by the webbing 5 against the change in the value representing the movement state of the vehicle, a sense of discomfort (a shock according to a sharp increase in the tensile force) according to a sharp increase in torque is not given to the vehicle occupant.
  • the seat belt device 1 is controlled also at the time of performing the prefill operation such that the amount of conduction in the motor 10 is the waiting current Iw. Accordingly, even in a case where high deceleration acts by placing the foot on the brake pedal, from the state in which the clutch 20 is maintained to be in the connection state, control of increasing the amount of conduction in the motor 10 such that the actual current is the target current set in accordance with the movement state of the vehicle is performed. Accordingly, the time delay until the webbing 5 is retracted can be configured to be extremely small, and the posture of the vehicle occupant can be reliably maintained in a speedy manner.
  • the gain K1 that is set when the steady-state yaw rate deviation ⁇ ff is equal to or larger than the first set value is smaller than the gain K2 that is set when the boundary yaw rate deviation ⁇ fb is equal to or larger than the second set value. Accordingly, the amount of change in the current at the time of controlling the actual current I of the motor 10 to approach the target current I 1 can be configured to be smaller than that at the time of performing side-slippage-suppressing brake control of the vehicle during the turning assist brake control.
  • the change in torque of the motor 10 at the time of performing the turning assist brake control can be smaller than the change in the torque of the motor 10 at the time of performing the side-slippage-suppressing brake control.
  • the seat belt device 1 has the gain K2 that is set when the boundary yaw rate deviation ⁇ fb is equal to or higher than the second set value as the maximum value (K2>K3>K1). Accordingly, in an emergency, the webbing 5 can be wound by increasing the amount of conduction in the motor 10 to the target current I 1 in a speedy manner. Accordingly, the vehicle occupant can be restrained in a speedy manner.
  • the gain K is set to the gain K1 having a small value.
  • the steady-state yaw rate deviation ⁇ ff occurs in the vehicle behavior control device 100 only when the vehicle speed is in a low speed region.
  • the steady-state yaw rate deviation ⁇ ff is zero, and the gain K is not set to K1 at this time. Accordingly, when the vehicle behavior becomes unstable at middle or high speed, the gain K is set to K2 or K3.
  • the webbing 5 can be wound by increasing the amount of conduction in the motor 10 to the target current I 1 in a speedy manner. Accordingly, the vehicle occupant can be restrained in a speedy manner.
  • operation signals (the steady-state yaw rate deviation ⁇ ff and the boundary yaw rate deviation ⁇ fb) that are different in accordance with the operation state are output from the vehicle behavior control device 100 to the seat belt control device 21 .
  • the seat belt control device 21 performs current control of the current flowing through the motor 10 based on the operation signals input from the vehicle behavior control device 100 . Accordingly, the seat belt control device 21 does not independently determine the vehicle behavior, the movement state of the vehicle, and the like. As a result, the calculation load of the seat belt control device 21 can be reduced.
  • a vehicle occupant can be restrained at the optimal timing, whereby a sense of discomfort of the vehicle occupant can be reduced.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automotive Seat Belt Assembly (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
US13/582,218 2010-03-04 2011-02-25 Vehicle seat belt device Active US8579066B2 (en)

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JP2010-047831 2010-03-04
JP2010047831 2010-03-04
PCT/JP2011/054311 WO2011108458A1 (ja) 2010-03-04 2011-02-25 車両のシートベルト装置

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US8579066B2 true US8579066B2 (en) 2013-11-12

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CN103303277A (zh) * 2013-06-14 2013-09-18 梁广强 一种应急自动刹车系统
JP6552996B2 (ja) * 2016-06-07 2019-07-31 日立建機株式会社 作業機械
KR20180003655A (ko) * 2016-06-30 2018-01-10 현대자동차주식회사 차량용 자세 제어방법
DE102018210794A1 (de) * 2018-06-29 2020-01-02 Robert Bosch Gmbh Verfahren zum Auslösen einer Insassenschutzeinrichtung in einem Fahrzeug
JP7035948B2 (ja) * 2018-10-12 2022-03-15 トヨタ自動車株式会社 車両用シートベルト装置
ES2942063A1 (es) * 2021-11-27 2023-05-29 Miranda Jose Santiago Dominguez Sistema de liberacion gradual de cinturon de seguridad en caso de vuelco de un vehiculo

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EP2543559A4 (de) 2013-10-02
CN102791540A (zh) 2012-11-21
EP2543559A1 (de) 2013-01-09
US20120325574A1 (en) 2012-12-27
JP5635587B2 (ja) 2014-12-03
EP2543559B1 (de) 2014-09-03
JPWO2011108458A1 (ja) 2013-06-27
WO2011108458A1 (ja) 2011-09-09
CN102791540B (zh) 2015-12-16

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